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ROBOTICS
INTRODUCTION
1
MEHRAN UNIVERSITY
OF ENGINEERING & TECHNOLOGY, JAMSHORO
MECHANICAL ENGINEERING, DEPARTMENT
B.E MECHATRONIC ENGINEERING PROGRAM
INTRODUCTION ROBOTICS
Machine vs Robot
A machine is a device to perform or assist
the human to minimize efforts and
precisely repeat the task. (i.e computer,
vehicle, drill, mobile, other appliances etc.)
A robot is an intelligent machine, that can
mimic the human and precisely repeat the
task written in its instructions while
moving smoothly like a human arm.
Every robot is machine, but every machine
is not a robot.
2
MEHRAN UNIVERSITY
OF ENGINEERING & TECHNOLOGY, JAMSHORO
MECHANICAL ENGINEERING, DEPARTMENT
B.E MECHATRONIC ENGINEERING PROGRAM
INTRODUCTION ROBOTICS
Automation vs Mechatronics
Automation, by which a process or
procedure is performed with minimal
human assistance. It is a technique of
making an apparatus, a process, or a
system operate, control automatically and
monitor.
A Mechatronics by which a mechanical
system is controlled with help of
computer, electronics and software.
Mechatronics can be automation, but
automation can not be said Mechatronic.
3
MEHRAN UNIVERSITY
OF ENGINEERING & TECHNOLOGY, JAMSHORO
MECHANICAL ENGINEERING, DEPARTMENT
B.E MECHATRONIC ENGINEERING PROGRAM
INTRODUCTION
ROBOTICS
Robotics deals with the design,
construction, operation, and use of
robots, as well as computer systems
for their control, sensory feedback,
and information processing.
These technologies are used to
develop machines that can substitute
for humans and replicate human
actions.
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CLASSIFICATION OF ROBOTS
The following is the classification of robots according to the Japanese Industrial Robot
Association (JIRA):
The Robotics Institute of America (RIA) only considers classes 3–6 of the above as
robots.
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ADVANTAGES OF ROBOTS
A robot, as a system, consists of the following elements, which are integrated together to
form a whole:
1- Manipulator or the rover: This is the main body of the robot which consists of the
links, the joints, and other structural elements of the robot. Without other elements, the
manipulator alone is not a robot.
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ROBOT COMPONENTS
Other novel actuators are used in specific situations. Actuators are under the
control of the controller.
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ROBOT COMPONENTS
4- Sensors: Sensors are used to collect information about the internal state of the
robot or to communicate with the outside environment.
As in humans, the robot controller needs to know the location of each link of the
robot in order to know the robot’s configuration.
When you wake up in the morning, even without opening your eyes, or when it is
completely dark, you still know where your arms and legs are.
The brain uses this information to determine the length of your muscles and,
consequently, the state of your arms, legs, and so on.
When the joint reaches the desired value, the signal is stopped.
In more sophisticated robots, the velocity and the force exerted by the robot are
also controlled by the controller.
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ROBOT COMPONENTS
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ROBOT COMPONENTS
The First group is the operating system that operates the processor.
The second group is the robotic software that calculates the necessary motions of
each joint based on the kinematic equations of the robot. This information is sent to
the controller.
This software may be at many different levels, from machine language to
sophisticated languages used by modern robots.
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COORDINATE SYSTEM
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DEGREES OF FREEDOM
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DEGREES OF FREEDOM
There are infinite possible ways to orientate the object about the selected point.
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DEGREES OF FREEDOM
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ORIENTATION (ROLL, PITCH, YAW)
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ROBOT JOINTS
Prismatic joints are denoted by P, revolute joints are denoted by R, and spherical
joints are denoted by S. Robot configurations are specified by a succession of P, R,
or S designations.
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ROBOT CONFIGURATIONS
Prismatic joints are denoted by P, revolute joints are denoted by R, and spherical
joints are denoted by S.
Robot configurations are specified by a succession of P, R, or S designations.
For example, a robot with three prismatic and three revolute joints is specified by
3P3R.
Cartesian/rectangular/gantry (3P): These robots are made of three linear joints
that position the end effector, which are usually followed by additional revolute
joints that orientate the end effector.
Cylindrical (PRP): Cylindrical coordinate robots have two prismatic joints and
one revolute joint for positioning the part, plus revolute joints for orientating the
part.
Spherical (P2R): Spherical coordinate robots follow a spherical coordinate system,
which has one prismatic and two revolute joints for positioning the part, plus
additional revolute joints for orientation.
Articulated/anthropomorphic (3R): An articulated robot’s joints are all revolute,
similar to a human’s arm. They are the most common configuration for industrial
robots. 23
ROBOT CONFIGURATIONS
Each joint can be Prismatic(P) or Revolute(R), and the axes of two adjacent joints
can be parallel (||), orthogonal (├), or perpendicular (⊥).
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ROBOT CONFIGURATIONS
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ROBOT CONFIGURATIONS
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EXERCISE: FIND THE CONFIGURATIONS
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ROBOT REFERENCE FRAMES
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ROBOT REFERENCE FRAMES
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ROBOT REFERENCE FRAMES
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ROBOT REFERENCE FRAMES
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ROBOT REFERENCE FRAMES
Unlike the universal World frame, the local Tool frame moves with the robot.
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RIGHT-HANDED COORDINATE SYSTEM
Using the right hand rule to compute the direction of the z axis.
Step-1: Hold your right hand in such a way that your fingers point in the direction
of x-axis and when you curl your fingers they curl towards the y-axis
Step-2: As you curl your fingers from the x-axis towards y-axis, stick your thumb
in the air. This will be direction of z-axis.
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RIGHT HAND RULE-2
2- Curling method
Another right hand rule to determine the direction of positive rotation is:
If you know the Point the fingers Curl you right Your thumb will
direction of these of your right hand fingers towards point in the
axes. in the direction of the direction of direction of this
this axis. this axis. axis
Y and Z Y Z X
X and Y X Y Z
X and Z Z X Y
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RIGHT HAND RULE-2
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RIGHT HAND RULE vs LEFT HAND RULE
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ROBOT CHARACTERISTICS
1- Payload
Payload is the weight a robot can carry and still remain within its other
specifications.
Example, a robot’s maximum load capacity may be much larger than its specified
payload, but at these levels, it may become less accurate, may not follow its
intended trajectory accurately, or may have excessive deflections.
The payload of robots compared to their own weight is usually very small.
2- Reach
Reach is the maximum distance a robot can reach within its work envelope.
Reach is a function of the robot’s joints and lengths and its configuration.
This is an important specification for industrial robots and must be considered
before a robot is selected and installed.
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ROBOT CHARACTERISTICS
3- Precision (validity):
Precision is defined as how accurately a specified point can be reached.
This is a function of the resolution of the actuators as well as the robot’s feedback
devices.
Most industrial robots can have precision in the range of 0.001 inches or better.
4- Repeatability (variability):
Repeatability is how accurately the same position can be reached if the motion is
repeated many times.
Suppose a robot is driven to the same point 100 times. Since many factors may
affect the accuracy of the position, the robot may not reach the same point every
time but will be within a certain radius from the desired point.
The radius of a circle formed by the repeated motions is called repeatability.
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ROBOT WORKSPACE
Depending on their configuration and the size of their links and wrist joints, robots
can reach a collection of points around them that constitute a workspace.
The shape of the workspace for each robot is uniquely related to its design.
The workspace may be found mathematically by writing equations that define the
robot’s links and joints and that include their limitations such as ranges of motions
for each joint.
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ROBOT APPLICATIONS
Machine loading
Pick and place operations
Welding
Painting
Inspection
Sampling
Assembly tasks
Manufacturing tasks
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space and inaccessible locations
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EXERCISE
Draw the approximate workspace for the following robot. Assume the dimensions
of the base and other parts of the structure of the robot are as shown.
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ROTATION MATRIX
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BOOKS